摘要
根据悬臂式掘进机器人截割工艺和结构特点，建立了截割臂动力学模型．将一种基于有限状态结构的二阶滑模控制扩展到多输入多输出系统中，在无速度观测器的情况下，保证了滑模量及其导数在有限时间收敛到零．算法消弱了传统滑模控制中的抖动问题，提高了控制系统精度．利用提出的多输入多输出二阶滑模控制算法，设计了截割臂控制器．通过仿真和实验，证明了算法的有效性．
According to the cutting techniques and the structure characteristics of a roadheader robot, we present a dynamic model for its arm and develop for the arm a MIMO control system which is an extension of a second-order sliding-mode control system（2-SMC） based on the finite-state machine. This control system drives the sliding-variable and its derivative to approach zero in a finite time interval without using a rate observer, thus reducing the chattering phenomenon and improving the control accuracy. The proposed MIMO 2-SMC has been applied to the arm control of a roadheader robot. Simulation and experiment show the validity of the proposed algorithm.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2010年第8期1037-1046,共10页
Control Theory & Applications
基金
中央高校基本科研业务费资助项目(CDJZR10170005)
